/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include "app_tof.h"
#include "oled.h"


/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "esp8266.h"
//网络协议层
#include "onenet.h"
#include "dht11.h"
#include "bh750.h"
#include "servo.h"
#include "BMP180.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
#define ESP8266_ONENET_INFO		"AT+CIPSTART=\"TCP\",\"mqtts.heclouds.com\",1883\r\n"
uint32_t receive_count=0;
uint32_t data_get_count=0;
uint32_t tof_get_count=0;
unsigned char *dataPtr = NULL;
bool body = true;
uint8_t flag=1;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART2_UART_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  MX_I2C2_Init();
  MX_USART3_UART_Init();
  MX_TOF_Init();
  /* USER CODE BEGIN 2 */
	
	HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
	HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
	HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
	HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_4);
	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);
	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);
	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);
	
//		for(int i=0;i< 10;i++)
//		{
//			
//			servowrite(0, 135);
//			servowrite(1, 135);
//			servowrite(2, 45);
//			servowrite(3, 45);

//			servowrite(4, 150);
//			servowrite(5, 150);
//			servowrite(6, 30);
//			servowrite(7, 30);
//			HAL_Delay(100);
//		}
	#if 1
	Drv_Bh1750_Init();
	BMP180_Init();
	oledInit();//oled初始化
	oledShowString(0,16,"Init ...",OLED_8X16);//(0,16)位置输出hello world，字号为OLED_8X16
	oledUpdate();//更新显存，刷新实际显示
	ESP8266_Init();
	UsartPrintf(USART_DEBUG, "Connect MQTTs Server...\r\n");
	while(ESP8266_SendCmd(ESP8266_ONENET_INFO, "CONNECT"));
	
	oledShowString(0,16,"Connect MQTTs...",OLED_8X16);//(0,16)位置输出hello world，字号为OLED_8X16
	oledUpdate();//更新显存，刷新实际显示
		
	while(OneNet_DevLink());			//接入OneNET
	UsartPrintf(USART_DEBUG, "Connect OneNET success!\r\n");
	
	oledShowString(0,16,"Connect OneNET success",OLED_8X16);//(0,16)位置输出hello world，字号为OLED_8X16
	oledShowString(0,32," success!",OLED_8X16);//(0,16)位置输出hello world，字号为OLED_8X16
	
	oledUpdate();//更新显存，刷新实际显示
	




OneNET_Subscribe();//订阅OneNet主题
	
	oledClear();

 	Init_servo_begin();
	BEEP_ON
	HAL_Delay(100);
	BEEP_OFF
	
	uint32_t count1=0;
	
	data_get_count=HAL_GetTick();
	tof_get_count = HAL_GetTick();
	
#endif

  /* USER CODE END 2 */

  /* Init scheduler */
//  osKernelInitialize();

//  /* Call init function for freertos objects (in cmsis_os2.c) */
//  MX_FREERTOS_Init();

//  /* Start scheduler */
//  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
//		
//		printf("1");
//		HAL_Delay(100);
	//	runServoPrg(servoPrg06, servoPrg06step);//右转
		#if 1
		if((HAL_GetTick()-data_get_count)>2000)
		{
		data_get_count = HAL_GetTick();
		DHT11_READ_DATA();
		lux= Med_Bh1750_GetLightIntensity();
		
		printf("lux = %.3f\r\n",lux);

		DisplayAllData( temp,  humi, lux, 
                  atm_press, tof_distance) ;
		bmp180Convert();
		
//		MX_TOF_Process();
			
		OneNet_SendData();
		ESP8266_Clear();	
		printf("run *******************\r\n");
			
			
				switch(control_value)
		{
				
			case 0:
				standUp();
				break;
			case 1:
				runServoPrg(servoPrg02, servoPrg02step);//后退
				break;
			case 2:
				runServoPrg(servoPrg03, servoPrg03step);//后退
				break;
			case 3:
				runServoPrg(servoPrg06, servoPrg06step);//右转
				break;
			case 4:	
				runServoPrg(servoPrg05, servoPrg05step);//左转					 
				break;
			default:
				break;
		}

	
		}
		
		if((HAL_GetTick()-tof_get_count)>100){
			tof_get_count = HAL_GetTick();
		
			MX_TOF_Process();
		}
		
		
			if(tof_distance<80){
			
			 BEEP_ON
			}
			else
			{
			 BEEP_OFF
			}
			
			if(tof_distance<100)
			{
			body = true;
			}else
			{
				body= false;
			}
//			if(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_15)==1)
//			{
//			body = true;
//				flag=1;
//			}
//			else
//			{
//				body=false;
//				flag=0;
//			}
//			

		dataPtr = ESP8266_GetIPD(0);
		
		
		if(dataPtr != NULL)
			OneNet_RevPro(dataPtr);
	
		
		#endif

		
		
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM2 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM2) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
